text:
using namespace OpenHome;
using namespace OpenHome::Net;

class DvProviderLinnCoUkConfiguration1C : public DvProvider
{
public:
    DvProviderLinnCoUkConfiguration1C(DvDeviceC aDevice);
    TBool SetPropertyConfigurationXml(const Brx& aValue);
    void GetPropertyConfigurationXml(Brhz& aValue);
    TBool SetPropertyParameterXml(const Brx& aValue);
    void GetPropertyParameterXml(Brhz& aValue);
    void EnablePropertyConfigurationXml();
    void EnablePropertyParameterXml();
    void EnableActionConfigurationXml(CallbackConfiguration1ConfigurationXml aCallback, void* aPtr);
    void EnableActionParameterXml(CallbackConfiguration1ParameterXml aCallback, void* aPtr);
    void EnableActionSetParameter(CallbackConfiguration1SetParameter aCallback, void* aPtr);
private:
    void DoConfigurationXml(IDviInvocation& aInvocation);
    void DoParameterXml(IDviInvocation& aInvocation);
    void DoSetParameter(IDviInvocation& aInvocation);
private:
    CallbackConfiguration1ConfigurationXml iCallbackConfigurationXml;
    void* iPtrConfigurationXml;
    CallbackConfiguration1ParameterXml iCallbackParameterXml;
    void* iPtrParameterXml;
    CallbackConfiguration1SetParameter iCallbackSetParameter;
    void* iPtrSetParameter;
    PropertyString* iPropertyConfigurationXml;
    PropertyString* iPropertyParameterXml;
};

DvProviderLinnCoUkConfiguration1C::DvProviderLinnCoUkConfiguration1C(DvDeviceC aDevice)
    : DvProvider(DviDeviceC::DeviceFromHandle(aDevice)->Device(), "linn.co.uk", "Configuration", 1)
{
    iPropertyConfigurationXml = NULL;
    iPropertyParameterXml = NULL;
}

TBool DvProviderLinnCoUkConfiguration1C::SetPropertyConfigurationXml(const Brx& aValue)
{
    ASSERT(iPropertyConfigurationXml != NULL);
    return SetPropertyString(*iPropertyConfigurationXml, aValue);
}

void DvProviderLinnCoUkConfiguration1C::GetPropertyConfigurationXml(Brhz& aValue)
{
    ASSERT(iPropertyConfigurationXml != NULL);
    aValue.Set(iPropertyConfigurationXml->Value());
}

TBool DvProviderLinnCoUkConfiguration1C::SetPropertyParameterXml(const Brx& aValue)
{
    ASSERT(iPropertyParameterXml != NULL);
    return SetPropertyString(*iPropertyParameterXml, aValue);
}

void DvProviderLinnCoUkConfiguration1C::GetPropertyParameterXml(Brhz& aValue)
{
    ASSERT(iPropertyParameterXml != NULL);
    aValue.Set(iPropertyParameterXml->Value());
}

void DvProviderLinnCoUkConfiguration1C::EnablePropertyConfigurationXml()
{
    iPropertyConfigurationXml = new PropertyString(new ParameterString("ConfigurationXml"));
    iService->AddProperty(iPropertyConfigurationXml); // passes ownership
}

void DvProviderLinnCoUkConfiguration1C::EnablePropertyParameterXml()
{
    iPropertyParameterXml = new PropertyString(new ParameterString("ParameterXml"));
    iService->AddProperty(iPropertyParameterXml); // passes ownership
}

void DvProviderLinnCoUkConfiguration1C::EnableActionConfigurationXml(CallbackConfiguration1ConfigurationXml aCallback, void* aPtr)
{
    iCallbackConfigurationXml = aCallback;
    iPtrConfigurationXml = aPtr;
    OpenHome::Net::Action* action = new OpenHome::Net::Action("ConfigurationXml");
    action->AddOutputParameter(new ParameterRelated("aConfigurationXml", *iPropertyConfigurationXml));
    FunctorDviInvocation functor = MakeFunctorDviInvocation(*this, &DvProviderLinnCoUkConfiguration1C::DoConfigurationXml);
    iService->AddAction(action, functor);
}

void DvProviderLinnCoUkConfiguration1C::EnableActionParameterXml(CallbackConfiguration1ParameterXml aCallback, void* aPtr)
{
    iCallbackParameterXml = aCallback;
    iPtrParameterXml = aPtr;
    OpenHome::Net::Action* action = new OpenHome::Net::Action("ParameterXml");
    action->AddOutputParameter(new ParameterRelated("aParameterXml", *iPropertyParameterXml));
    FunctorDviInvocation functor = MakeFunctorDviInvocation(*this, &DvProviderLinnCoUkConfiguration1C::DoParameterXml);
    iService->AddAction(action, functor);
}

void DvProviderLinnCoUkConfiguration1C::EnableActionSetParameter(CallbackConfiguration1SetParameter aCallback, void* aPtr)
{
    iCallbackSetParameter = aCallback;
    iPtrSetParameter = aPtr;
    OpenHome::Net::Action* action = new OpenHome::Net::Action("SetParameter");
    action->AddInputParameter(new ParameterString("aTarget"));
    action->AddInputParameter(new ParameterString("aName"));
    action->AddInputParameter(new ParameterString("aValue"));
    FunctorDviInvocation functor = MakeFunctorDviInvocation(*this, &DvProviderLinnCoUkConfiguration1C::DoSetParameter);
    iService->AddAction(action, functor);
}

void DvProviderLinnCoUkConfiguration1C::DoConfigurationXml(IDviInvocation& aInvocation)
{
    DvInvocationCPrivate invocationWrapper(aInvocation);
    IDvInvocationC* invocationC;
    void* invocationCPtr;
    invocationWrapper.GetInvocationC(&invocationC, &invocationCPtr);
    aInvocation.InvocationReadStart();
    aInvocation.InvocationReadEnd();
    DviInvocation invocation(aInvocation);
    char* aConfigurationXml;
    ASSERT(iCallbackConfigurationXml != NULL);
    if (0 != iCallbackConfigurationXml(iPtrConfigurationXml, invocationC, invocationCPtr, &aConfigurationXml)) {
        invocation.Error(502, Brn("Action failed"));
        return;
    }
    DviInvocationResponseString respaConfigurationXml(aInvocation, "aConfigurationXml");
    invocation.StartResponse();
    Brhz bufaConfigurationXml((const TChar*)aConfigurationXml);
    OhNetFreeExternal(aConfigurationXml);
    respaConfigurationXml.Write(bufaConfigurationXml);
    respaConfigurationXml.WriteFlush();
    invocation.EndResponse();
}

void DvProviderLinnCoUkConfiguration1C::DoParameterXml(IDviInvocation& aInvocation)
{
    DvInvocationCPrivate invocationWrapper(aInvocation);
    IDvInvocationC* invocationC;
    void* invocationCPtr;
    invocationWrapper.GetInvocationC(&invocationC, &invocationCPtr);
    aInvocation.InvocationReadStart();
    aInvocation.InvocationReadEnd();
    DviInvocation invocation(aInvocation);
    char* aParameterXml;
    ASSERT(iCallbackParameterXml != NULL);
    if (0 != iCallbackParameterXml(iPtrParameterXml, invocationC, invocationCPtr, &aParameterXml)) {
        invocation.Error(502, Brn("Action failed"));
        return;
    }
    DviInvocationResponseString respaParameterXml(aInvocation, "aParameterXml");
    invocation.StartResponse();
    Brhz bufaParameterXml((const TChar*)aParameterXml);
    OhNetFreeExternal(aParameterXml);
    respaParameterXml.Write(bufaParameterXml);
    respaParameterXml.WriteFlush();
    invocation.EndResponse();
}

void DvProviderLinnCoUkConfiguration1C::DoSetParameter(IDviInvocation& aInvocation)
{
    DvInvocationCPrivate invocationWrapper(aInvocation);
    IDvInvocationC* invocationC;
    void* invocationCPtr;
    invocationWrapper.GetInvocationC(&invocationC, &invocationCPtr);
    aInvocation.InvocationReadStart();
    Brhz aTarget;
    aInvocation.InvocationReadString("aTarget", aTarget);
    Brhz aName;
    aInvocation.InvocationReadString("aName", aName);
    Brhz aValue;
    aInvocation.InvocationReadString("aValue", aValue);
    aInvocation.InvocationReadEnd();
    DviInvocation invocation(aInvocation);
    ASSERT(iCallbackSetParameter != NULL);
    if (0 != iCallbackSetParameter(iPtrSetParameter, invocationC, invocationCPtr, (const char*)aTarget.Ptr(), (const char*)aName.Ptr(), (const char*)aValue.Ptr())) {
        invocation.Error(502, Brn("Action failed"));
        return;
    }
    invocation.StartResponse();
    invocation.EndResponse();
}

THandle STDCALL DvProviderLinnCoUkConfiguration1Create(DvDeviceC aDevice)
{
    return new DvProviderLinnCoUkConfiguration1C(aDevice);
}

void STDCALL DvProviderLinnCoUkConfiguration1Destroy(THandle aProvider)
{
    delete reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider);
}

void STDCALL DvProviderLinnCoUkConfiguration1EnableActionConfigurationXml(THandle aProvider, CallbackConfiguration1ConfigurationXml aCallback, void* aPtr)
{
    reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider)->EnableActionConfigurationXml(aCallback, aPtr);
}

void STDCALL DvProviderLinnCoUkConfiguration1EnableActionParameterXml(THandle aProvider, CallbackConfiguration1ParameterXml aCallback, void* aPtr)
{
    reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider)->EnableActionParameterXml(aCallback, aPtr);
}

void STDCALL DvProviderLinnCoUkConfiguration1EnableActionSetParameter(THandle aProvider, CallbackConfiguration1SetParameter aCallback, void* aPtr)
{
    reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider)->EnableActionSetParameter(aCallback, aPtr);
}

int32_t STDCALL DvProviderLinnCoUkConfiguration1SetPropertyConfigurationXml(THandle aProvider, const char* aValue, uint32_t* aChanged)
{
    Brhz buf(aValue);
    *aChanged = (reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider)->SetPropertyConfigurationXml(buf)? 1 : 0);
    return 0;
}

void STDCALL DvProviderLinnCoUkConfiguration1GetPropertyConfigurationXml(THandle aProvider, char** aValue)
{
    Brhz buf;
    reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider)->GetPropertyConfigurationXml(buf);
    *aValue = (char*)buf.Transfer();
}

int32_t STDCALL DvProviderLinnCoUkConfiguration1SetPropertyParameterXml(THandle aProvider, const char* aValue, uint32_t* aChanged)
{
    Brhz buf(aValue);
    *aChanged = (reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider)->SetPropertyParameterXml(buf)? 1 : 0);
    return 0;
}

void STDCALL DvProviderLinnCoUkConfiguration1GetPropertyParameterXml(THandle aProvider, char** aValue)
{
    Brhz buf;
    reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider)->GetPropertyParameterXml(buf);
    *aValue = (char*)buf.Transfer();
}

void STDCALL DvProviderLinnCoUkConfiguration1EnablePropertyConfigurationXml(THandle aProvider)
{
    reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider)->EnablePropertyConfigurationXml();
}

void STDCALL DvProviderLinnCoUkConfiguration1EnablePropertyParameterXml(THandle aProvider)
{
    reinterpret_cast<DvProviderLinnCoUkConfiguration1C*>(aProvider)->EnablePropertyParameterXml();
}


text:
A Diasporus a kétéltűek (Amphibia) osztályába, a békák (Anura) rendjébe és az Eleutherodactylidae családba tartozó nem. A nemet először 2008-ban írták le.<ref name=Frost>{{cite web |url=http://research.amnh.org/vz/herpetology/amphibia/Amphibia/Anura/Brachycephaloidea/Eleutherodactylidae/Eleutherodactylinae/Diasporus |title=Diasporus Hedges, Duellman, and Heinicke, 2008 |author=Frost, Darrel R. |year=2017 |work=Amphibian Species of the World: an Online Reference. Version 6.0 |publisher=American Museum of Natural History |accessdate=10 June 2017}}</ref> A nembe tartozó fajok Közép-Amerikában és Dél-Amerika északi részén élnek..

Megjelenése

A Diasporus nembe tartozó fajok kis méretű békák, melyeknek hossza 11 mm (hím Diasporus quidditus) és 26 mm (nőstény Diasporus hylaeformis) közé esik. Fejük viszonylag nagy méretű. Az összes faj közvetlen kifejlődésű, fejlődésük során az ebihal fázis kimarad.

Nevének eredete
A név a görög diaszpóra (szétszóródás) szóból ered, és a fajnak az Eleutherodactylus karibi kládjával való rokonságára utal.

Elterjedése
A Diasporus fajok párás síkvidéki és hegyvidéki erdőkben élnek Panamától Kolumbia csendes-óceáni partvidékéig és Ecuador északnyugati területeiig.

Rendszerezés
A nembe az alábbi fajok tartoznak:
 Diasporus amirae Arias, Chaves, Salazar, Salazar-Zúñiga & García-Rodríguez, 2019
 Diasporus anthrax (Lynch, 2001)
 Diasporus citrinobapheus Hertz, Hauenschild, Lotzkat & Köhler, 2012
 Diasporus darienensis Batista, Köhler, Mebert, Hertz & Vesely, 2016
 Diasporus diastema (Cope, 1875)
 Diasporus gularis (Boulenger, 1898)
 Diasporus hylaeformis (Cope, 1875)
 Diasporus igneus Batista, Ponce & Hertz, 2012
 Diasporus majeensis Batista, Köhler, Mebert, Hertz & Vesely, 2016
 Diasporus pequeno Batista, Köhler, Mebert, Hertz & Vesely, 2016
 Diasporus quidditus (Lynch, 2001)
 Diasporus sapo Batista, Köhler, Mebert, Hertz & Vesely, 2016
 Diasporus tigrillo (Savage, 1997)
 Diasporus tinker (Lynch, 2001)
 Diasporus ventrimaculatus Chaves, García-Rodríguez, Mora & Leal, 2009
 Diasporus vocator (Taylor, 1955)

Jegyzetek

Források
 Hedges, Duellman & Heinicke, 2008 : New World direct-developing frogs (Anura: Terrarana): molecular phylogeny, classification, biogeography, and conservation''. Zootaxa, 1737. szám, 1-182. old (eredeti publikáció).
 A Diasporus az Amphibiaweb oldalon
 Amphibian Species of the World 6.0

Eleutherodactylidae
Kétéltűnemek

redpajama_set_name: RedPajamaWikipedia


text:
Underdogs no more
Stregspiller September 25, 2016 Sascha Staat Unplugged, News Leave a Comment
Do you remember the 2014 Final 4 in Cologne? I guess you do. Kiel or Barcelona, Barcelona or Kiel, maybe Veszprem? And SG Flensburg-Handewitt? Bound for fourth place. In the end the boys of Ljubomir Vranjes stunned the handball world – first shocking Barcelona and then archrival THW Kiel. It was a weekend for the ages.
But Flensburg is far from being the underdog these days. Vranjes has done an excellent job of developing young players and resting his old stars when needed. Danish playmaker Thomas Mogensen and German sharpshooter Holger Glandorf also "did him the favor" of retiring from international duties. They are totally focused on winning with Flensburg.
SG was quite close of going back to Cologne this past season only losing on away goals in the quarterfinal against Kielce. The team was furious, and rightfully so, about a call that wasn't given in the dying moments of the return leg. But Flensburg had wasted enough scoring opportunities in the 60 minutes before and could only blame themselves.
After all Flensburg couldn't win a single title last season, going from Kielce to Hamburg, losing the German cup final against Magdeburg, while finishing second in the league. The lesson learnt: Flensburg wouldn't make the same mistakes twice, for example losing points early in the season which would hurt them later on. Or taking wins for granted.
Flensburg still owns a perfect record this season, having won a key game in the title race of the Bundesliga at Rhein-Neckar Löwen, while beating both Magdeburg and Melsungen at home. At this point last year, SG had already lost twice and drawn once. The game at Mannheim against "Löwen" was quite impressive, conceding only 17 goals while keeper Mattias Andersson "shut the door" for most of the time.
This season Flensburg can only beat themselves – all experts in agreement. While Rhein Neckar Löwen are very dependent on Andy Schmid, Kiel is still a work in progress – although newcomers Nikola Bilyk and Lukas Nilsson have done quite well during their first months in the North. Flensburg's biggest advantage is team chemistry, the players know each other very well.
The club signed only one additional player – Ivan Horvat, a 23-year old Croatian playmaker, who convinced coach Vranjes during his handball camp over the summer. And only one player left – pivot Krezimir Kozina. He was hired as a replacement for injured Anders Zachariassen; Kozina joined Füchse Berlin on a one-year deal. But there are already rumors that he will come back to Flensburg in 2017.
So it's all about familiar faces in Flensburg, like goalkeeper Andersson. I still think that he is a great player, but he had a subpar Olympic tournament. More recently he fought back nicely with a great performance in Mannheim. He needs to be in top form in order for Flensburg to go far in the Champions League. While Kevin Møller is a great backup, I doubt he's the answer in goal over the long haul.
In back-court a lot depends on how fast Rasmus Lauge will recover from the knee-injury he suffered late last season. Right now, Ljubomir Vranjes has a lot of options to replace him. For example, Jim Gottfridsson or Petar Djordjic, who has shown signs of his great talent that we saw during his first stint in Flensburg.
On the wings Danish duo Anders Eggert, (it's his last season with the club) and Lasse Svan, bring a lot of speed, experience and skill. Hampus Wanne and Bogdan Radivojevic can always come in and you will hardly notice any difference. And Frenchman Kentin Mahe is always an option on left-wing as well, but he is more valuable in the back-court to relieve Thomas Mogensen from time to time.
So far I didn't even mention Holger Glandorf and Johan Jakobsson, the two right-backs. I also didn't talk about the squad's great defense around captain Tobias Karlsson and Henrik Toft Hansen. It all looks quite decent to me. To be honest, SG is the most exciting team to watch – to me anyway. But fun doesn't always translate into success, as we all know.
Still, I expect SG Flensburg will make it to the quarterfinal. And then Cologne is just around the corner. My gut feeling tells me something big is going to happen in Flensburg this year, and the Final 4 will be part of it. To nobody's surprise.

redpajama_set_name: RedPajamaCommonCrawl


text:
Review of Mullah Saleh Qaris Memoirs
Faezeh Sasanikhah
Translated by Zahra Hosseinian
The fragrance of freedom could be smelled everywhere. No matter it was day or night, I worked with all my might. I [Mullah Saleh] was also a member of the Abadan Revolutionary Council, which was governed by Haj Agha Jami.
I had sat next to Sheikh Isa Tarafi. With a pen and paper in his hand, he turned to me and said:
- Do you know what your most important job is now?
- I don't. You tell me, please.
Sheikh smiled and said:
- Your most important duty is to guide the people of the region through radio. Accompanied by other members, do it. Go to radio station and get start.
The next morning, I headed to the broadcasting center along with Sheikh Ali, the son of Sheikh Isa Tarafi, Sheikh Ibrahim Deirawi and Ali Fallahian, and a number of student and clergies who were fluent in Arabic. We got there and soon took over the Arab studio, which was active before the revolution and whose main program was news against the Ba'athist regime.
The group's new responsibility was to organize Arabic radio programs, mainly broadcast news of the revolution, religious programs, and local theater and anthems. Over time, the radio's programs had a great impact on introducing the goals of the revolution in neighboring Arab countries, but these did not seem to be enough, and it looked necessary to create a cultural center which could make an impression on the Arab youth in the city, especially the rural youth. Following this idea, I set up a department called the "Marakz Althaqafy" in a building near the broadcasting center in the southern Bevardeh, with the help of my friends, and then we contacted Arabic language instructors in the Qom seminary and invited them to cooperate.
After announcing through the Arabic studio of Radio Abadan, young people from many Arab towns and villages around the city came to the center to register and attend training courses. The building was filled with rural and urban Arab and non-Arab youth. Everyone had come to register at this cultural center.
I persuaded the young people with diploma degree and lower grades to attend seminary classes. Instructors were also invited from Qom for this purpose, and accommodation and salaries had been also provided for them.
In addition to this activity, with the help of my friend, Ali Fallahian, and students of the Petroleum Faculty, and Saeid Sayyah Taheri, we formed a committee called the "Islamic Revolutionary Committee", in where the poor and needy families were identified and cared.
The private contributions came from Tehran. The trucks packed with stuff were parked next to the committee and unloaded. Active and passionate young people carried the boxes into the building. I was happy and thanked God for the happiness I had in serving along the path of the revolution goals.
For a while, cultural items and private contributions and food for the poor have been provided by the Kangarlou brothers, activists of the 'Islamic Fajr Group', with whom I met in prison and they had a close friendship with Ayatollah Beheshti. These items came to Abadan from Tehran almost once a month and were distributed among families and cultural centers. However, the gap between the poor and the rich class was so great that it could not be filled with these aids. At nights, when the alleys of the slums plunged into darkness, people lived in their homes relieved, because there was no more clashes and fear of SAVAK police officers and their agents. At nights, the door of the poor houses were kindly knocked, and the food donation packs were lovingly donated to the expectant families.
People came to the support headquarters every day, and the rooms were always crowded. Everyone came for a request, and Ali and I and my other friends helped them according to the priority of needs; like the construction materials, a field, labor force, or even the marriage allowance. We did whatever we could.
Until Imam Khomeini issued an order to establish "The Foundation of the Oppressed and Disabled and The Imam Khomeini Relief Foundation". By establishing this foundations, the procedures carried out in administrative way and coherently. After the revolution, and in addition to these activities, I ran in the elections of the first term of the Islamic Consultative Assembly, which was postponed to the second round, and I withdrew in favor of a friend. At the same time, I was elected to a position, but resigned in protest of the policies of Bazargan government.[1]
[1] Ghabishi, Razieh, Mullah Saleh (Narration of the life of a Mujahid Warrior, Mullah Saleh Qari), Qom, Shahid Kazemi Publishing, 2016, pp. 84 - 87


The live stream was the success the company very much needed it to be.
Twitter's (NYSE:TWTR) first live stream of an NFL game has garnered largely positive reviews. The broadcast, which took place last Thursday, was a contest between the Buffalo Bills and the New York Jets.
It was a technical success, with many viewers saying the video (which viewers could watch with an accompanying Twitter feed) was smooth and generally free of glitches. Some did point out that there was a slight lag when compared to the traditional TV broadcast -- it also aired on CBS (NYSE:CBS) and cable's NFL Network -- but not to the point of distraction.
It was the first of 10 Thursday Night Football contests that will air on Twitter; the next is a tussle between the Houston Texans and the New England Patriots. Like the Buffalo/New York game, the remaining games will be available through the company's website and apps, and will not require viewers to have a Twitter account.
The company paid $10 million for the streaming rights to those contests.
It's an exaggeration to say that the game was a make-or-break moment for Twitter, but it certainly comes close. Like an underdog football team, the habitually unprofitable company needs a win. In order to satisfy and maintain the spendthrift advertisers it attracted to the live stream, Twitter's broadcast had to be nearly flawless -- mission accomplished.
The viewership was small compared to that of the more traditional media. All told, around 2.1 million people watched the game via Twitter, averaging out to roughly 243,000 per minute. That's nowhere near the 15.4 million average combined per-minute viewership boasted by CBS and the NFL Network.
But no one should have expected it to compare -- watching a football game through a short-messaging service on a mobile device or PC is still a novelty. It will take time to become a standard means of consuming professional sports.
Meanwhile, NFL on Twitter opens an enticingly lucrative new revenue stream for a company that could use the money. It also gives Twitter a unique advertising platform in the digital realm, and a model for other revenue-generating live stream events. Investors should cheer the success of the broadcast as optimistically as they root for their favorite team.


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And much more to craft, construct, and enjoy!
Packed with precise fabrics and 1000's of pictures and educational illustrations, Rustic backyard Projects is the last word advisor to get you all started adorning your backyard, your yard, or perhaps your urban droop. Plus, each one venture contains sensible purchasing lists, tips about which instruments to exploit, and the crops and flora that would pair top together with your new construction. Don't spend hundreds cash and lengthy drawn-out hours with landscaping companies—the solutions you would like are correct here!
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Pick your box, fill it with water, and relax and watch your plant grow!
This ebook is the reply to a person who has ever shied clear of growing to be residence vegetation as a result of messy dust or worry of items loss of life if left for a number of days with out water. Ditch the effort and how one can develop crops interior with not anything yet water.
Peter Loewer, an inveterate inventor of water gardening strategies, has written and illustrated this captivating consultant to coach readers the fundamentals of hydroculture. this method of transforming into crops in water has a historical past of just about three hundred years, from experiments via an English botanist to the enormous computerized manufacturing facility greenhouses of the 20th century the place greens are actually grown commercially by means of the ton. the best way to make the most of this easy, time-tested process on your own residence and not fear approximately over- or under-watering again!
Peter Loewer, an inveterate inventor of water gardening suggestions, has written and illustrated this captivating advisor to coach readers the fundamentals of hydroculture. this method of starting to be crops in water has a heritage of just about three hundred years, from experiments by way of an English botanist to the large automatic manufacturing facility greenhouses of the 20th century the place greens are actually grown commercially via the ton. how you can make the most of this straightforward, time-tested procedure on your own residence and not fear approximately over- or under-watering again!
The 2011 backyard Writers of the USA Gold Award for most sensible Writing/Book proves soil is whatever yet an inert substance. fit soil is teeming with lifestyles -- not only earthworms and bugs, yet a impressive multitude of micro organism, fungi, and different microorganisms. after we use chemical fertilizers, we injure the microbial lifestyles that sustains fit crops, and therefore develop into more and more depending on an arsenal of man-made ingredients, a lot of them poisonous to people in addition to different kinds of lifestyles. yet there's a substitute for this vicious circle: to backyard in a fashion that strengthens, instead of destroys, the soil nutrition net -- the advanced global of soil-dwelling organisms whose interactions create a nurturing setting for crops. by means of eschewing jargon and overly technical language, the authors make some great benefits of cultivating the soil foodstuff internet on hand to a large viewers, from devotees of natural gardening options to weekend gardeners who easily are looking to develop fit, lively crops with no resorting to chemical compounds.
Learn the right way to remodel your backyard right into a attractive panorama utilizing local plants!
You do not need to compromise good looks for common landscapes with ecological accountability and sustainability. In grasp gardener Lynn Steiner's publication Grow Native, you will discover tips for planting beautiful gardens utilizing local species that help your neighborhood atmosphere. equipped in an simply available manner, the booklet deals directions for planting, upkeep directions, valuable pointers on soil, watering and fertilizing in addition to lovely images. With assistance approximately find out how to weave local crops into your panorama and exchanging universal ornamentals with usual vegetation, this ebook must have a spot on each gardener's bookshelf.
What Do You suggest by means of "Native"?
Additionally, sidebars all through Naturescape supply tips for attracting particular butterflies, birds, bees and different beneficials for your yard--all via plant selections.


Wecare Home Health Services, Home Health Agencies & Services, listed under "Home Health Agencies & Services" category, is located at 6960 Mumford Rd Halifax NS, B3L 4P1, Canada and can be reached by 9024542571 phone number. Wecare Home Health Services has currently 0 reviews.
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text:
Q: 2nd button will not work with event handler in Xamarin c# android app MainActivity.cs
namespace testApp
{
    [Activity (Label = "DHS HotKeys", MainLauncher = true, Icon = "@drawable/icon")]
    public class MainActivity : Activity
    {

    protected override void OnCreate (Bundle bundle)
    {
        base.OnCreate (bundle);

        // Set our view from the "main" layout resource
        SetContentView (Resource.Layout.Main);

        // Get our button from the layout resource,
        // and attach an event to it
        Button button1 = FindViewById<Button> (Resource.Id.button1);
        Button button = FindViewById<Button> (Resource.Id.myButton);

        button.Click += delegate {
            var uri = Android.Net.Uri.Parse ("https://www.fridayparentportal.com/delran/");
            var intent = new Intent (Intent.ActionView, uri);
            StartActivity (intent);
            };

        button1.Click += (object sender, EventArgs e) => {
            var uri2 = Android.Net.Uri.Parse ("http://dhs.delranschools.org/students/lunch_menu/");
            var intent2 = new Intent (Intent.ActionView, uri2);
            StartActivity (intent2);
        };

    }
}

}
Inside the resource designer:
public partial class Id
    {

        // aapt resource value: 0x7f050001
        public const int button1 = 2131034113;

        // aapt resource value: 0x7f050000
        public const int myButton = 2131034112;

The 2nd button is set exactly like the first, but it does nothing when clicked, while the first one opens the webpage.  The ID for 2nd button is @+id/button1
Thank you

A: write each button closer to their eventhandler, like this :
Button btn1 = FindViewById<Button>(Resource.Id.button1);
btn.Click += (object se,EventArgs e)
{

}

redpajama_set_name: RedPajamaStackExchange


text:
Two held for store robbery on Ambergris
BREAKING: Another motorcyclist injured in traffic accident
Motorcycle trip after curfew turns fatal
Published by [email protected] at November 27, 2021
Posted: Saturday, November 27, 2021. 4:05 pm CST.
By Aaron Humes: Police say a young man from Valley Community, Stann Creek District, made what proved a fatal decision to return home on his motorcycle after a night of socializing.
The body of Keon Richie, 23, was found on the right side of the Hummingbird Highway traveling north at Mile 22, along with a heavily damaged Meilun motorcycle just after midnight this morning.
Initial investigation revealed that on Friday night, November 26, at about 11:15 p.m., Richie was socializing at Mile 23 on the Hummingbird Highway, and at about 11:25 p.m., he decided to return home.
Police say that whilst returning home on his cycle and before reaching the Middlesex Bridge he allegedly lost control of his cycle and crashed into the left rail guard, which resulted in his fatal injuries.
Police are investigating.


text:
Q: Ionic 2 list not filtering I am following this tutorial:
https://www.joshmorony.com/high-performance-list-filtering-in-ionic-2/
this is my search.html
<ion-header>
    <ion-navbar>
        <ion-title>search</ion-title>
    </ion-navbar>
    <ion-toolbar primary >
        <ion-searchbar [(ngModel)]="searchTerm" [formControl]="searchControl" ></ion-searchbar>
    </ion-toolbar>
</ion-header>

<ion-content padding>
        <ion-list>
            <ion-item *ngFor="let item of items" >
                {{ item.name}}
            </ion-item>
        </ion-list>
</ion-content>

and this is my search.js
mport { Component } from '@angular/core';
import { IonicPage, NavController, NavParams,ViewController } from 'ionic-angular';
import { DataListProvider } from '../../../providers/data-list/data-list';
import { KeysPipe } from '../../../providers/pipes/pipes';
import 'rxjs/add/operator/debounceTime';
import { FormControl } from '@angular/forms';

@IonicPage()
@Component({
    selector: 'page-country-list-modal',
    templateUrl: 'country-list-modal.html',
})
export class searchPage {

    items=[]
    items1=[]

    searchTerm: string = '';
    searchControl: FormControl;
    searching: any = false;

    constructor(public navCtrl: NavController, public navParams: NavParams,public viewCtrl: ViewController, public dataListProvider : DataListProvider) {
        this.searchControl = new FormControl();
    }

    ngOnInit() {
        console.log ('1234')
        this.items1=JSON.parse(localStorage.getItem("countryList"))

        for(let key in this.items1) {
            if (key == "")
            {

            }else{
                this.items.push({ 'name':  this.items1[key] });
            }
        }
    }

    ionViewDidLoad() {

        this.setFilteredItems();

        this.searchControl.valueChanges.debounceTime(700).subscribe(search => {

            this.setFilteredItems();

        });
    }

    setFilteredItems()
    {
        if (this.searchTerm) {

            return this.items.filter(item => {
                 return item.name.toLowerCase().indexOf(this.searchTerm.toLowerCase()) > -1;
            });
        } else {
            return this.items;
        }
    }

}

But the issue its not sorting through the list at all. How do I fix this issue
My items looks like
[{"name":"Canada"},{"name":"Japan"}....]

A: filter function just return the filtered array, not modify the original array. You need do like this:
filteredItems =[];
setFilteredItems()
    {
        if (this.searchTerm) {

            this.filteredItems = this.items.filter(item => {
                 return item.name.toLowerCase().indexOf(this.searchTerm.toLowerCase()) > -1;
            });
        } else {
            this.filteredItems = this.items;
        }
    }

and use filteredItems to genarate item in template


In this paper, we describe the development of a planar, pillar array device that can be used to image either side of a tunable membrane, as well as sample and detect small molecules in a cell-free region of the microchip. The pores are created by sealing two parallel PDMS microchannels (a cell channel and a collector channel) over a gold pillar array (5 or 10 μm in height), with the device being characterized and optimized for small molecule cross-over while excluding a flowing cell line (here, red blood cells, RBCs). The device was characterized in terms of the flow rate dependence of analyte cross-over and cell exclusion as well as the ability to perform amperometric detection of catechol and nitric oxide (NO) as they cross-over into the collector channel. Using catechol as the test analyte, the limits of detection (LOD) of the cross-over for the 10 μm and 5 μm pillar array heights were shown to be 50 nM and 105 nM, respectively. Detection of NO was made possible with a glassy carbon detection electrode (housed in the collector channel) modified with Pt-black and Nafion, to enhance sensitivity and selectivity, respectively. Reproducible cross-over of NO as a function of concentration resulted in a linear correlation (r2 = 0.995, 7.6–190 μM), with an LOD for NO of 230 nM on the glassy carbon/Pt-black/0.05% Nafion electrode. The applicability of the device was demonstrated by measuring the NO released from hypoxic RBCs, with the device allowing the released NO to cross-over into a cell free channel where it was detected in close to real-time. This type of device is an attractive alternative to the use of 3-dimensional devices with polycarbonate membranes, as either side of the membrane can be imaged and facile integration of electrochemical detection is possible.


Disney Frozen Small Doll Elsa Castle Playset: Just like in the Disney movie Frozen, girls can re-create Elsa's adventures in her majestic ice palace atop the north mountain, where she unleashes her magical powers over ice and snow! In this iridescent, wintry-hued ice palace, adorable Elsa small doll (included) can enjoy sweet dreams on her cozy bed, get royal ready at her vanity, or sit on her throne. Elsa can travel up and down on the palace's girl-activated elevator or stand behind her curtain which spins for a surprise reveal. The entire palace lights up with the push of a button to create a magical, colorful lightshow throughout the palace, which extends and expands to re-create Elsa's impressive castle from the film. Playset also includes adorable Olaf figurine. Ages 3 and up.


text:
Fiat 500x - italian compact crossover
› Med-Auto.Com - automotive portal › Italian cars
At the Mondial de l'Automobile car forum in October 2014, many new cars were presented, and among these new products, the new Fiat 500X from the Italian concern was not unnoticed. The first announcement of the compact Fiat 500X crossover was in early 2012, then the pre-production version of the crossover was presented. This car has a lot to do with the Jeep Renegade, because they have the same platform - Fiat Chrysler Automobiles. Jeep Renegade was presented in the spring of 2014 and today is in full swing sold in European countries at a price that starts from 20,000 euros.
As for the new Fiat 500X, sales of this car are projected to begin at the end of 2015, although the price is promised a little less. Today it is not yet known when the sale of this crossover will begin on the Russian market, but the official sale Fiat 500Х most likely to be organized, because the usual Fiat 500 in Russia is sold officially.
The appearance of the car says about the originality inherent in Italian cars. Externally, the car looks like a typical Italian car, so it is difficult to imagine that he is a relative with the American Renegade. But apart from the platform, these cars have nothing in common, because the Italian Fiat 500X is stylish and sophisticated, unlike the American crossover, which has a brutal appearance and coarse shapes.
The Fiat 500X will be offered in the future in several versions - "City Look" and "Off-Road Look". From the name you can see for what purposes each version is more suitable. In the urban version will be installed standard bumpers and a minimum of plastic on the body. And the off-road version will do an excellent job with a country ride, there will be other bumpers, as well as plastic body protection.
Special bumpers, which are used in the off-road version, make the car 20 mm longer than the urban version, but these are trifles, of course.
Dimensions Fiat 500H are:
length: 4.25 m;
width: 1.8 m;
height: 1.6 m;
clearance: 185-200 mm. (depending on the type of drive, and the diameter of the wheels (16, 17 and 18 inches are possible).
In Fiat 500X, its rounded shapes look very nice, there are some similarities with the Japanese popular compact crossover Nissan Juke. Overall, the Italian crossover looks a bit glamorous, especially from the front. If we consider the version of "Off-Road", then in this version of the Fiat 500X looks slightly provocative and even aggressive.
The front of the car looks modern thanks to a special bumper, beautiful headlights and slots for air ducts. The exterior of the presented model can be called very attractive even with complete confidence. The appearance of the car looks complete, sporty and bold.
In addition, exterior mirrors with interesting legs, supports make the car more dynamic. In profile, the car also looks quite original due to the short bonnet, large cut-out wheel arches, large doorways, falling to the rear door of the roof, which is attached spoilers.
Recommended article: Italian Maserati Ghibli already presented in Shanghai
The Fiat 500X in the back also looks nice enough thanks to the rear lights with chrome rims, a powerful bumper that gives the car a slightly sporty look.
Many experts believe that stylistically new Fiat 500X will create competition for MINI models, which have been leading for quite a long time among cars with original designs.
Inside, everything is not so clear, thanks to its compact size, the lack of free space is somewhat felt inside the car, but this is not entirely critical, on the contrary, the comfort in the cabin is felt.
On the front seats is clearly expressed lateral support, it contributes to the comfortable movement of sufficiently long distances. In addition, a comfortable fit was also due to the correctly chosen length and height of the back, as well as the seat cushion.
The driver and front passenger seat is more than enough, even if these people are large enough. But on the back of the couch with free space, things are a little worse, although it is stated that it can safely accommodate 3 people, but in fact, to ensure comfortable movement, it's better that there are no more than 2 passengers, and then everything will just great At the foot of the place, in principle, it is enough, there is a small margin, although there is not enough space between the ceiling and the heads of the rear passengers, but in the cabin, in general, not closely.
Making the interior of the Fiat 500X, the developers used discreet solutions, but a bit of glamor in the interior design is still present. The quality of materials is at a high level, the details are worked out quite clearly, it is clear that they have received serious attention.
Laconic front panel contains everything you need, and, ergonomics at a high level, the driver is comfortable to use the functions of the car, without being distracted from the road. The instrument panel also turned out to be quite informative, all its elements are perfectly readable, and the steering wheel is very pleasant to the touch, comfortably lies in the hands, thanks to its convenient form.
In the basic configuration of the car there are already 6 airbags, also, the car uses a anti-roll system, air conditioning, heated seats and mirrors, modern fog lights with a system that regulates the angle of luminous flux.
In more expensive trim levels, driver assistants are installed who track the double solid intersection to indicate whether there is another car in the dead zone while driving in the stream.
As additional options there are a lot of interesting features, such as climate control and a modern multimedia system Uconnect with a 6.5-inch screen, it also has a rear-view camera, navigation and even a braking system that controls the braking process to prevent collisions. especially if driving at high speed. As an option, you can also trim the interior is not a standard cloth, and high-quality leather.
Recommended article: Chang's Chinese crossovers look pretty serious
As for the practical use of the car, there are some nuances associated with the trunk, because it is not famous for its capacity, its volume is 350 liters, but golf clubs, fishing rods and a pair of bags will easily fit there.
The developers claim that the Fiat 500H will be equipped with 3 different engines. One of which is the Turbo MultiAir II gasoline engine with a volume of 1.4 liters and a capacity of 140 liters. with. With this motor works fine box robot with two clutches, providing the fastest gear changes. It is also possible to purchase a car with a 6-speed manual.
In addition to the engine that runs on gasoline, there are also 2 diesel power units MultiJet 2 with a volume of 1.6 liters and a capacity of 120 liters. with., and a 2-liter engine with a capacity of 140 liters. with. A more powerful engine will only work with a 9-speed automatic ZF, and a 1.6-liter will work only with a mechanical 6-speed manual.
The developers promise in the future to complement the line of engines with a 1.6-liter gasoline engine E-Torq with a capacity of 110 liters. with. For this engine will be installed 5-speed manual. There will also be a Turbo MultiAir II engine with a volume of 1.4 liters and a capacity of 170 liters. with., working on gasoline and more powerful atmospheric 2.4-liter Tigershark engine, issuing 184 liters. with. power. Best for the latest engines to install a 9-speed automatic.
As for the drive, the Fiat 500F subcompact crossovers will initially be front-wheel drive. For front-wheel drive modifications, only an anti-skid system will be available that simulates the cross-axle differential lock. In the more expensive models, in which more powerful engines will be used, it will be possible to supply all-wheel drive with different modes of operation.
But despite the four-wheel drive, serious off-road this car is too tough. Fiat 500X is a real crossover-SUV, which is designed for city driving and country roads.
But this crossover from Fiat can easily overcome the snow-covered sections of the road, as long as there is solid ground or undercoat. In addition, the Italian crossover does not have a system that blocks the center differential, downshifts and a system that helps you descend from the mountain. For example, in Jeep Ranagede it is all there.
Driving a Fiat 500X
When you go behind the wheel of a Fiat 500X, there are twofold sensations, but in general, pleasant. Suspension is elastic, and sometimes even harsh, especially at high speed, but this is only a plus, because the car holds the road better. Small bumps and pits the car eats, so driving is felt comfort. Noise isolation at an average level, a little worse than on premium cars, at medium speeds in the cabin is quiet.
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The only thing that is doubtful is the steering, because the Fiat 500H "scour" on the track, and you have to catch the car, especially if the speed exceeds 120 km / h
Pros and cons of a crossover
The main advantages of this car can be considered the original appearance - the car is bright and stylish, involuntarily attracts attention. Also, you can choose a car according to your preferences, potential buyers have 12 different body colors available, and there is even a possibility to choose a picture on wheels among 8 different options.
Also the advantage of this crossover is the high quality of materials and assembly. The dynamics of car acceleration are also good, if we consider more expensive equipment with powerful motors.
Among the shortcomings - the steering, which clearly needs work. Of course, it is quite possible that the defect associated with the management can only be on the testing car, it is quite possible that in the serial versions of the Fiat 500X there will be no such flaws. And if such a defect is noticed in all the cars of this model, the car will not compete for the MINI, who have everything clearly in terms of control, though the price of MINI cars is clearly higher, BMW concern, after all. Also among the shortcomings can be considered the preliminary cost of the car, because today, when the Russian ruble has become two times cheaper, almost every foreign car will be considered unrealistically expensive.
The basic equipment will start with 17,500 euros, and this is substantial money, as for a compact crossover with front-wheel drive and mechanics as a transmission. Therefore, such a car for the money is unlikely to become popular in Russia. The first limited edition crossover Fiat 500X in the urban version will cost around 22,000 euros, and the off-road version with a 2-liter 140-horsepower diesel engine will cost 30,650 euros. So that, price Fiat 500X is large enough for such a car, but of course, this model will find its customers even in Russia, especially fans of the Italian car industry will be interested.
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Nitrate Reductase A (NarGHI) and DMSO Reductase (DmsABC) Nitrate reductase A (NarGHI) is an excellent model system to study protonmotive force generation by the redox loop mechanism. It has two substrate binding sites, one located in the cytoplasmic membrane, which releases protons into the periplasmic compartment as a result of quinol oxidation, and a nitrate reducing site that consumes cytoplasmically-localized protons as a result of nitrate reduction to nitrite. Catalytic turnover thus contributes to the protonmotive force across the cytoplasmic membrane. We are studying these two substrate-binding sites and the prosthetic groups that mediate electron transfer between them. Our efforts culminated in a 1.9Å resolution structure of the enzyme (in collaboration with Dr. Natalie Strynadka, UBC). We use electron paramagnetic resonance (EPR) to study NarGHI and other respiratory chain enzymes. Two spectrometers are located in the laboratory, a Bruker Elexys E500 equipped with a liquid helium cryogenic system is used to record spectra of hemes and [Fe-S] clusters, and a Bruker ESP300E equipped with a liquid nitrogen cryogenic system is used to record spectra of free radicals and molybdenum.
Bacterial Complex II Homologs Fumarate reductase (FrdABCD) and succinate dehydrogenase (SdhCDAB) are both excellent model systems for mitochondrial complex II. They are expressed anaerobically and aerobically, respectively, and have similar overall structures and prosthetic group compositions. Our focus with SdhCDAB is to understand the relationship between the identified ubiquinone binding site and the heme and [3Fe-4S] cluster to which it is in close juxtaposition. We are addressing these issues using a combination of site-directed mutagenesis and biochemical/ biophysical assays. In the case of FrdABCD, we are trying to determine the role of the menaquinol binding sites identified in the structure of the protein.
The Prokaryotic complex iron-sulfur molybdoenzyme family.
Rothery RA, Workun G, Weiner JH. Biochem.
Biophy. Acta. Reviews in Biomembranes (2008) 1778(9):1897-1929.
Escherichia coli succinate dehydrogenase variant lacking the heme b.
Tran QM, Rothery RA, Maklashina E, Cecchini G, Weiner JH.
Proc Natl Acad Sci U S A. (2007) 104 (46):18007-12.
The evolutionary persistence of the molybdo-pyranopterin-containing sulfite oxidase protein fold.
Workun G, Moquin K, Rothery RA, Weiner JH.
Microbiol. Mol. Biol. Reviews (2008) 72:228-248.
Alternative sites for proton entry from the cytoplasm to the quinone binding site in the Escherichia coli Succinate Dehydrogenase.
Cheng VW, Johnson A, Rothery RA, Weiner JH.
Rothery RA, Bertero MG, Spreter T, Bouromand N, Strynadka NCJ, Weiner JH.


text:
Hot research: Improved car nav downtown, indoor mapping with drones
March 16, 2016 - By Tony Murfin
Back in September at the Institute of Navigation GNSS+ convention in Tampa, Florida, one of the papers went a long way to explaining why and how more GNSS satellites in more constellations is better. The natural assumption is that because there are more satellites, a multi-constellation receiver can choose which ones have the best signal and which provide the best solution — and it's not always the same satellites.
Best geometry together with best signal strength obviously provide the best solution, but this might change in, for instance, a downtown urban setting for a car using a satellite navigation system. While most Western car-nav systems use only GPS, the study by Martin Escher, Mirko Stanisak, and Ulf Bestmann at the Institute of Flight Guidance, Technical University in Braunschweig, Germany, clearly shows that there is an advantage to embedding multi-constellation receivers in these systems.
Skyplot of GPS, GLONASS, Galileo and BeiDou satellites at Braunschweig.
The above skyplot shows a perfect reception of all GNSS satellites during a period of 14 hours — 30 usable satellites — obtained with a high-quality antenna without any obstacles. Car driving downtown will almost never encounter such good GNSS reception.
The Technical University put two different receivers in a car under static, representative, urban conditions, and went about evaluating reception against that predicted by an in-house simulation. The high-precision survey-grade receiver receiver tracked signals from all four constellations, while a lower cost receiver used in some car-nav systems was configured to only track GPS and Beidou. In this scenario, valid signals were obscured by surrounding buildings and the total number of visible satellites was reduced from 23-30 to 11-18.
The measurements validated the university simulation model and demonstrated how the high-precision receiver was able to remove multipath and other diffracted or reflected signals, while the lower cost receiver collected all available signals and therefore suffered some accuracy degradation.
Braunschweig urban scenario.
Predicted satellites reception with an elevation of up to 65 degrees often obstructed by buildings.
The area chosen for this demonstration is dominated by narrow roads with multi-story buildings on both sides of the road. To begin, only GPS positioning was used on the test route — representing the current state-of-the-art for most production car-nav systems. For large portions of the test drive, no GPS-only position solution was achieved because of insufficient GPS measurements.
While there was some improvement in tracking using a multi-constellation receiver, when GNSS differential corrections over a mobile telecom link were incorporated, tracking performance was significantly improved. But when inertial and wheel sensors were also added into the solution, almost perfect positioning was achieved over the whole route.
Multi-constellation with differential corrections and sensor aiding.
Given that commercial GPS/GLONASS corrections are now available almost everywhere over a large portion of the globe and some assisted GNSS services are beginning to add both Galileo and Beidou corrections, it's possible that downtown loss of signal for car drivers may soon be a thing of the past. And, of course, many car-nav systems currently incorporate wheel sensor inputs for dead-reckoning when GNSS is lost.
Drone use in difficult locations
Another interesting ION GNSS 2015 paper from Adam Schultz, Russell Gilabert, and Maarten Uijt de Haag of The Ohio University details the way a couple of students and their professor set out to fly a drone down corridors and within the halls of the Engineering Department. They are hoping to soon get access to the extensive maintenance tunnel system at Ohio University for more autonomous flights using newer, smaller drones.
The objective is to investigate the requirements and use of drones for missions in remote or difficult locations for applications such as large building maintenance, search and rescue, and indoor mapping.
But watch out, people in the Engineering building, if you see an unmanned hex-copter heading toward you on your way to class! Sounds like great fun as the UAV research students see the shots of the scattering inhabitants via the onboard Point Grey FireFly MV color camera!
The UAV/drone is equipped with a navigation and mapping system for both outdoor and indoor environments, using multiple laser scanners, an inertial measurement unit (IMU), barometric height and GNSS, whenever its available.
The UAV is a 3DRobotics hex-copter with a payload that includes an onboard processor, two short-range and one long-range laser range scanners, autopilot, Xsense MTI IMU, GPS receiver and a standard Wi-Fi link to relay real-time maps, trajectories and video to the remote operator.
Ohio U Hex-copter with similar payload as flown through indoor environment (speed ~2m/s).
Guidance, navigation and control (GNC) of the unmanned hex-copter is accomplished by tactical and strategic modules. In known environments, the strategic GNC keeps track of the planned and actual flight trajectories and provides the next waypoints for the mission.
In unknown environments, the strategic GNC maintains a rough estimate of trajectory and the current map of the UAV's location. The UAV can be flown either manually by the student managing the flight controller or, when in autonomous mode, by the internal UAV flight control computer. Laser scanners provide horizontal position estimation and altitude estimation, while also collecting mapping data.
The mission manager is programmed with a simple rule-based system that uses the system's 2D and 3D maps to control the route. The drone flies autonomously through the corridors and rooms, while the UAS operator monitors progress on a laptop. The operator can manually take control of the UAV guidance at any time.
The autopilot provides magnetometer and inertial measurements that are used to loosely maintain heading when moving from outdoors to indoors. When indoors, the lidar, inertial and optical (LION) mission controller continuously outputs position and orientation and generates short 10-30 second trajectories for the flight controller — providing a series of waypoints and required velocities for the UAV to follow.
Map generated by the UAV mission controller (red) versus truth reference map (blue).
Should this research ultimately lead to a commercial UAV implementation, it sure would help solve the huge problem we have now for generating indoor maps. The current simultaneous localization and mapping (SLAM) method for generating these indoor maps usually means somebody walks throughout a mall or office building carrying one of several indoor location systems or even taking physical measurements. If a very small UAV were to be flown safely throughout such an indoor location, data would be collected quickly, hopefully with a lot less effort than current methods allow. There's still a lot of research and development required, but this sure does look promising.
"Future Automotive GNSS Positioning in Urban Scenarios," Martin Escher, Mirko Stanisak, Ulf Bestmann, ION GNSS+ 2015.
"Indoor Flight Demonstration Results of an Autonomous Multi-copter using Multiple Laser Inertial Navigation," Adam Schultz, Russell Gilabert, and Maarten Uijt de Haag, ION GNSS+ 2015.
This article is tagged with auto navigation, drone, indoor mapping, UAV and posted in OEM, Opinions
About the Author: Tony Murfin
Tony Murfin is managing consultant for GNSS Aerospace LLC, Florida. Murfin provides business development consulting services to companies involved in GNSS products and markets, and writes for GPS World as the OEM Professional contributing editor. Previously, Murfin worked for NovAtel Inc. in Calgary, Canada, as vice president of Business Development; for CMC Electronics in Montreal, Canada, as business development manager, product manager, software manger and software engineer; for CAE in Montreal as simulation software engineer; and for BAe in Warton, UK, as senior avionics engineer. Murfin has a B.Sc. from the University of Manchester Institute of Science and Technology in the UK, and is a UK Chartered Engineer (CEng MIET).


In the case of obvious shortages or suspected damage to delivery of goods, all claims for broken or missing goods should be reported to the Company no later than three days from the date of delivery.
b) All returned goods must be in perfect original condition; not marked in any way; and should not show any evidence of being tampered with.
a) Recall arrangement for a medical product are dictated by the product manufacturer. Returned goods will only be accepted in accordance with the specific instructions relating to each recall.
b) Goods must be packed adequately, clearly identified as a product recall, and accompanied by the supplied returns slip.
3.4. Returns where the products or packages are alleged to have been faulty, damaged or tampered with prior to delivery by BreathEazy Ltd.
a) Details of the fault or damage should be notified to the Company as soon as possible in order that the manufacturer can be alerted if appropriate. This does not preclude a Customer from dealing directly with a manufacturer on grounds of patient safety.
b) Goods must be packed adequately and accompanied by the supplied returns slip.
c) Where the fault is the manufacturer's responsibility, credit will only be given as authorised and specified by them.
a) Good must be packed separately and accompanied by the returns slip.
b) Credit will be given in accordance with the terms of the pre-arranged scheme.
3.6. When the Company agrees to accept the return of goods not covered by any of the criteria recited in clauses 3.2 to 3.5 A handling charge may be applicable.
b) They have been assessed and accepted by a person authorised by the Company to do so. The assessment will take into account the nature of the product, any special storage conditions required, and the time elapsed since the goods were supplied.
3.8. The Distance Selling Regulations (DSR) give consumers a right to return goods within seven working days of delivery. To take advantage of this right, the customer should notify us in writing, by email or other durable medium. This should be sent before the end of the seven-day cancellation period.
c) This should not affect your examination the goods.
All returned goods must be securely packaged to prevent damage during the return journey and returned via tracked delivery to ensure safe receipt.
Goods will be invoiced at the prevailing price at the date of despatch to the Customer. The price of goods shall be subject to alteration by the Company without prior notice to the Customer. The price is exclusive of any value added tax which the Customer shall be additionally liable to pay the Company.
c) Charge the Customer interest, both before and after any judgement on amounts unpaid at the rate of 2.5% per month until payment is made in full. Notice of interest charges will be served in writing on the Customer.
Any dates quoted for delivery of the goods are to be treated as estimates only and the Company shall be not be liable for any loss, injury, damage, or expense arising from delay in delivery of the goods howsoever caused.
Goods are sold on the understanding that the Customer is solely responsible for determining the suitability of the goods for the purposes for which the Customer intends to use them. Accordingly the Company's liability for any loss or damage suffered by the Customer and arising by defects in the goods, shall be limited to the invoice price of the goods in respect of or in relation to which loss or damages is claimed. The Company will not accept under any circumstances liability for consequential loss, damage, or loss of profits arising from the use of the goods, service, information and advice.
Unless otherwise agreed in writing between the parties prior to delivery, the title to the goods shall not be transferred to the Customer until the full purchase price has been paid to the Company.
The risk of loss or damage to the goods shall pass to the Customer on the date that the goods are received and accepted by the Customer.
The Company shall not be liable to the Customer or be deemed to be in breach of the contract by reason of any delay in performing, or any failure to perform any of the Company's obligations in relation to the goods, if the delay or failure was due to any cause beyond the Company's reasonable control.
d) The Company reasonably apprehends that any of the above mentioned events are about to occur in relation to the Customer and notifies the Customer accordingly.
If this clause applies then, without prejudice to any other right or remedy available to the Company, the Company shall be entitled to cancel the contract or suspend any further deliveries under the contract without liability to the Customer. If the goods have been delivered but not paid for, the price shall become immediately due and payable not withstanding any agreement or arrangement to the contrary.
These conditions shall be construed in accordance with and governed by English law.
Each of the parties irrevocably submits for all purposes in connection with the conditions to the exclusive jurisdiction of the courts of England.